Self-Triggered Consensus of Vehicle Platoon System With Time-Varying Topology

This paper focuses on the consensus problem of a vehicle platoon system with time-varying topology via self-triggered control. Unlike traditional control methods, a more secure event-triggered controller considering the safe distance was designed for the vehicle platoon system. Then, a Lyapunov function was designed to prove the stability of the platoon system. Furthermore, based on the new event-triggered function, a more energy efficient self-triggered control strategy was designed by using the Taylor formula. The new self-triggered control strategy can directly calculate the next trigger according to the state information of the last trigger. It avoids continuous calculation and measurement of vehicles. Finally, the effectiveness of the proposed two self-triggered control strategies were verified by numerical simulation experiments.